Giles Barton-Owen / Mbed 2 deprecated MbedRanger

Allows the M3Pi to be used as a Sumo robot, using the sharp 100 distance sensors on the front.

Dependencies:   mbed

m3pi/m3pi.h@0:342c14fb10c0, 2012-03-14 (annotated)

Committer:
p07gbar
Date:
Wed Mar 14 20:31:09 2012 +0000
Revision:
0:342c14fb10c0
First upload

Who changed what in which revision?

UserRevisionLine numberNew contents of line
p07gbar 0:342c14fb10c0 1 /* mbed m3pi Library
p07gbar 0:342c14fb10c0 2 * Copyright (c) 2007-2010 cstyles
p07gbar 0:342c14fb10c0 3 *
p07gbar 0:342c14fb10c0 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
p07gbar 0:342c14fb10c0 5 * of this software and associated documentation files (the "Software"), to deal
p07gbar 0:342c14fb10c0 6 * in the Software without restriction, including without limitation the rights
p07gbar 0:342c14fb10c0 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
p07gbar 0:342c14fb10c0 8 * copies of the Software, and to permit persons to whom the Software is
p07gbar 0:342c14fb10c0 9 * furnished to do so, subject to the following conditions:
p07gbar 0:342c14fb10c0 10 *
p07gbar 0:342c14fb10c0 11 * The above copyright notice and this permission notice shall be included in
p07gbar 0:342c14fb10c0 12 * all copies or substantial portions of the Software.
p07gbar 0:342c14fb10c0 13 *
p07gbar 0:342c14fb10c0 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
p07gbar 0:342c14fb10c0 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
p07gbar 0:342c14fb10c0 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
p07gbar 0:342c14fb10c0 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
p07gbar 0:342c14fb10c0 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
p07gbar 0:342c14fb10c0 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
p07gbar 0:342c14fb10c0 20 * THE SOFTWARE.
p07gbar 0:342c14fb10c0 21 */
p07gbar 0:342c14fb10c0 22
p07gbar 0:342c14fb10c0 23 #ifndef M3PI_H
p07gbar 0:342c14fb10c0 24 #define M3PI_H
p07gbar 0:342c14fb10c0 25
p07gbar 0:342c14fb10c0 26 #include "mbed.h"
p07gbar 0:342c14fb10c0 27 #include "platform.h"
p07gbar 0:342c14fb10c0 28
p07gbar 0:342c14fb10c0 29 #ifdef MBED_RPC
p07gbar 0:342c14fb10c0 30 #include "rpc.h"
p07gbar 0:342c14fb10c0 31 #endif
p07gbar 0:342c14fb10c0 32
p07gbar 0:342c14fb10c0 33 #define SEND_SIGNATURE 0x81
p07gbar 0:342c14fb10c0 34 #define SEND_RAW_SENSOR_VALUES 0x86
p07gbar 0:342c14fb10c0 35 #define SEND_CALIBRATED_SENSOR_VALUES 0x87
p07gbar 0:342c14fb10c0 36 #define SEND_TRIMPOT 0xB0
p07gbar 0:342c14fb10c0 37 #define SEND_BATTERY_MILLIVOLTS 0xB1
p07gbar 0:342c14fb10c0 38 #define DO_PLAY 0xB3
p07gbar 0:342c14fb10c0 39 #define PI_CALIBRATE 0xB4
p07gbar 0:342c14fb10c0 40 #define DO_CLEAR 0xB7
p07gbar 0:342c14fb10c0 41 #define DO_PRINT 0xB8
p07gbar 0:342c14fb10c0 42 #define DO_LCD_GOTO_XY 0xB9
p07gbar 0:342c14fb10c0 43 #define LINE_SENSORS_RESET_CALIBRATION 0xB5
p07gbar 0:342c14fb10c0 44 #define SEND_LINE_POSITION 0xB6
p07gbar 0:342c14fb10c0 45 #define AUTO_CALIBRATE 0xBA
p07gbar 0:342c14fb10c0 46 #define SET_PID 0xBB
p07gbar 0:342c14fb10c0 47 #define STOP_PID 0xBC
p07gbar 0:342c14fb10c0 48 #define M1_FORWARD 0xC1
p07gbar 0:342c14fb10c0 49 #define M1_BACKWARD 0xC2
p07gbar 0:342c14fb10c0 50 #define M2_FORWARD 0xC5
p07gbar 0:342c14fb10c0 51 #define M2_BACKWARD 0xC6
p07gbar 0:342c14fb10c0 52
p07gbar 0:342c14fb10c0 53
p07gbar 0:342c14fb10c0 54 #define LINE_THRESHOLD 100
p07gbar 0:342c14fb10c0 55
p07gbar 0:342c14fb10c0 56
p07gbar 0:342c14fb10c0 57 /** m3pi control class
p07gbar 0:342c14fb10c0 58 *
p07gbar 0:342c14fb10c0 59 * Example:
p07gbar 0:342c14fb10c0 60 * @code
p07gbar 0:342c14fb10c0 61 * // Drive the m3pi forward, turn left, back, turn right, at half speed for half a second
p07gbar 0:342c14fb10c0 62
p07gbar 0:342c14fb10c0 63 #include "mbed.h"
p07gbar 0:342c14fb10c0 64 #include "m3pi.h"
p07gbar 0:342c14fb10c0 65
p07gbar 0:342c14fb10c0 66 m3pi pi;
p07gbar 0:342c14fb10c0 67
p07gbar 0:342c14fb10c0 68 int main() {
p07gbar 0:342c14fb10c0 69
p07gbar 0:342c14fb10c0 70 wait(0.5);
p07gbar 0:342c14fb10c0 71
p07gbar 0:342c14fb10c0 72 pi.forward(0.5);
p07gbar 0:342c14fb10c0 73 wait (0.5);
p07gbar 0:342c14fb10c0 74 pi.left(0.5);
p07gbar 0:342c14fb10c0 75 wait (0.5);
p07gbar 0:342c14fb10c0 76 pi.backward(0.5);
p07gbar 0:342c14fb10c0 77 wait (0.5);
p07gbar 0:342c14fb10c0 78 pi.right(0.5);
p07gbar 0:342c14fb10c0 79 wait (0.5);
p07gbar 0:342c14fb10c0 80
p07gbar 0:342c14fb10c0 81 pi.stop();
p07gbar 0:342c14fb10c0 82
p07gbar 0:342c14fb10c0 83 }
p07gbar 0:342c14fb10c0 84 * @endcode
p07gbar 0:342c14fb10c0 85 */
p07gbar 0:342c14fb10c0 86 class m3pi : public Stream {
p07gbar 0:342c14fb10c0 87
p07gbar 0:342c14fb10c0 88 // Public functions
p07gbar 0:342c14fb10c0 89 public:
p07gbar 0:342c14fb10c0 90
p07gbar 0:342c14fb10c0 91 /** Create the m3pi object connected to the default pins
p07gbar 0:342c14fb10c0 92 *
p07gbar 0:342c14fb10c0 93 */
p07gbar 0:342c14fb10c0 94 m3pi();
p07gbar 0:342c14fb10c0 95
p07gbar 0:342c14fb10c0 96
p07gbar 0:342c14fb10c0 97
p07gbar 0:342c14fb10c0 98
p07gbar 0:342c14fb10c0 99 /** Create the m3pi object connected to the spesific pins
p07gbar 0:342c14fb10c0 100 *
p07gbar 0:342c14fb10c0 101 * @param nrst GPIO pin used for reset. Default is p23
p07gbar 0:342c14fb10c0 102 * @param tx Serial transmit pin. Default is p9
p07gbar 0:342c14fb10c0 103 * @param rx Serial receive pin. Default is p10
p07gbar 0:342c14fb10c0 104 */
p07gbar 0:342c14fb10c0 105 m3pi(PinName nrst, PinName tx, PinName rx);
p07gbar 0:342c14fb10c0 106
p07gbar 0:342c14fb10c0 107
p07gbar 0:342c14fb10c0 108
p07gbar 0:342c14fb10c0 109 /** Force a hardware reset of the 3pi
p07gbar 0:342c14fb10c0 110 */
p07gbar 0:342c14fb10c0 111 void reset (void);
p07gbar 0:342c14fb10c0 112
p07gbar 0:342c14fb10c0 113 /** Directly control the speed and direction of the left motor
p07gbar 0:342c14fb10c0 114 *
p07gbar 0:342c14fb10c0 115 * @param speed A normalised number -1.0 - 1.0 represents the full range.
p07gbar 0:342c14fb10c0 116 */
p07gbar 0:342c14fb10c0 117 void left_motor (float speed);
p07gbar 0:342c14fb10c0 118
p07gbar 0:342c14fb10c0 119 /** Directly control the speed and direction of the right motor
p07gbar 0:342c14fb10c0 120 *
p07gbar 0:342c14fb10c0 121 * @param speed A normalised number -1.0 - 1.0 represents the full range.
p07gbar 0:342c14fb10c0 122 */
p07gbar 0:342c14fb10c0 123 void right_motor (float speed);
p07gbar 0:342c14fb10c0 124
p07gbar 0:342c14fb10c0 125 /** Drive both motors forward as the same speed
p07gbar 0:342c14fb10c0 126 *
p07gbar 0:342c14fb10c0 127 * @param speed A normalised number 0 - 1.0 represents the full range.
p07gbar 0:342c14fb10c0 128 */
p07gbar 0:342c14fb10c0 129 void forward (float speed);
p07gbar 0:342c14fb10c0 130
p07gbar 0:342c14fb10c0 131 /** Drive both motors backward as the same speed
p07gbar 0:342c14fb10c0 132 *
p07gbar 0:342c14fb10c0 133 * @param speed A normalised number 0 - 1.0 represents the full range.
p07gbar 0:342c14fb10c0 134 */
p07gbar 0:342c14fb10c0 135 void backward (float speed);
p07gbar 0:342c14fb10c0 136
p07gbar 0:342c14fb10c0 137 /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot
p07gbar 0:342c14fb10c0 138 *
p07gbar 0:342c14fb10c0 139 * @param speed A normalised number 0 - 1.0 represents the full range.
p07gbar 0:342c14fb10c0 140 */
p07gbar 0:342c14fb10c0 141 void left (float speed);
p07gbar 0:342c14fb10c0 142
p07gbar 0:342c14fb10c0 143 /** Drive left motor forward and right motor backwards at the same speed to turn on the spot
p07gbar 0:342c14fb10c0 144 * @param speed A normalised number 0 - 1.0 represents the full range.
p07gbar 0:342c14fb10c0 145 */
p07gbar 0:342c14fb10c0 146 void right (float speed);
p07gbar 0:342c14fb10c0 147
p07gbar 0:342c14fb10c0 148 /** Stop both motors
p07gbar 0:342c14fb10c0 149 *
p07gbar 0:342c14fb10c0 150 */
p07gbar 0:342c14fb10c0 151 void stop (void);
p07gbar 0:342c14fb10c0 152
p07gbar 0:342c14fb10c0 153 /** Read the voltage of the potentiometer on the 3pi
p07gbar 0:342c14fb10c0 154 * @returns voltage as a float
p07gbar 0:342c14fb10c0 155 *
p07gbar 0:342c14fb10c0 156 */
p07gbar 0:342c14fb10c0 157 float pot_voltage(void);
p07gbar 0:342c14fb10c0 158
p07gbar 0:342c14fb10c0 159 /** Read the battery voltage on the 3pi
p07gbar 0:342c14fb10c0 160 * @returns battery voltage as a float
p07gbar 0:342c14fb10c0 161 */
p07gbar 0:342c14fb10c0 162 float battery(void);
p07gbar 0:342c14fb10c0 163
p07gbar 0:342c14fb10c0 164 /** Read the position of the detected line
p07gbar 0:342c14fb10c0 165 * @returns position as A normalised number -1.0 - 1.0 represents the full range.
p07gbar 0:342c14fb10c0 166 * -1.0 means line is on the left, or the line has been lost
p07gbar 0:342c14fb10c0 167 * 0.0 means the line is in the middle
p07gbar 0:342c14fb10c0 168 * 1.0 means the line is on the right
p07gbar 0:342c14fb10c0 169 */
p07gbar 0:342c14fb10c0 170 float line_position (void);
p07gbar 0:342c14fb10c0 171
p07gbar 0:342c14fb10c0 172 /** Get the raw sensor values
p07gbar 0:342c14fb10c0 173 *
p07gbar 0:342c14fb10c0 174 * @param int* A pointer to a interger array
p07gbar 0:342c14fb10c0 175 */
p07gbar 0:342c14fb10c0 176 void get_raw_sensors(int* values);
p07gbar 0:342c14fb10c0 177
p07gbar 0:342c14fb10c0 178 /** Get the calibrated sensor values
p07gbar 0:342c14fb10c0 179 *
p07gbar 0:342c14fb10c0 180 * @param int* A pointer to an float array
p07gbar 0:342c14fb10c0 181 */
p07gbar 0:342c14fb10c0 182 void get_calibrated_sensors(float* values);
p07gbar 0:342c14fb10c0 183
p07gbar 0:342c14fb10c0 184 /** Records current levels as white, values used to detect a line
p07gbar 0:342c14fb10c0 185 *
p07gbar 0:342c14fb10c0 186 */
p07gbar 0:342c14fb10c0 187 void get_white_levels();
p07gbar 0:342c14fb10c0 188
p07gbar 0:342c14fb10c0 189 /** Gets the line state
p07gbar 0:342c14fb10c0 190 *
p07gbar 0:342c14fb10c0 191 * @returns The line status: 0 means no line, -1 means line at back two sensors, 1 means line at front sensors
p07gbar 0:342c14fb10c0 192 */
p07gbar 0:342c14fb10c0 193
p07gbar 0:342c14fb10c0 194 int is_line();
p07gbar 0:342c14fb10c0 195
p07gbar 0:342c14fb10c0 196
p07gbar 0:342c14fb10c0 197 /** Calibrate the sensors. This turns the robot left then right, looking for a line
p07gbar 0:342c14fb10c0 198 *
p07gbar 0:342c14fb10c0 199 */
p07gbar 0:342c14fb10c0 200 char sensor_auto_calibrate (void);
p07gbar 0:342c14fb10c0 201
p07gbar 0:342c14fb10c0 202 /** Set calibration manually to the current settings.
p07gbar 0:342c14fb10c0 203 *
p07gbar 0:342c14fb10c0 204 */
p07gbar 0:342c14fb10c0 205 void calibrate(void);
p07gbar 0:342c14fb10c0 206
p07gbar 0:342c14fb10c0 207 /** Clear the current calibration settings
p07gbar 0:342c14fb10c0 208 *
p07gbar 0:342c14fb10c0 209 */
p07gbar 0:342c14fb10c0 210 void reset_calibration (void);
p07gbar 0:342c14fb10c0 211
p07gbar 0:342c14fb10c0 212 void PID_start(int max_speed, int a, int b, int c, int d);
p07gbar 0:342c14fb10c0 213
p07gbar 0:342c14fb10c0 214 void PID_stop();
p07gbar 0:342c14fb10c0 215
p07gbar 0:342c14fb10c0 216 /** Write to the 8 LEDs
p07gbar 0:342c14fb10c0 217 *
p07gbar 0:342c14fb10c0 218 * @param leds An 8 bit value to put on the LEDs
p07gbar 0:342c14fb10c0 219 */
p07gbar 0:342c14fb10c0 220 void leds(int val);
p07gbar 0:342c14fb10c0 221
p07gbar 0:342c14fb10c0 222 /** Locate the cursor on the 8x2 LCD
p07gbar 0:342c14fb10c0 223 *
p07gbar 0:342c14fb10c0 224 * @param x The horizontal position, from 0 to 7
p07gbar 0:342c14fb10c0 225 * @param y The vertical position, from 0 to 1
p07gbar 0:342c14fb10c0 226 */
p07gbar 0:342c14fb10c0 227 void locate(int x, int y);
p07gbar 0:342c14fb10c0 228
p07gbar 0:342c14fb10c0 229 /** Clear the LCD
p07gbar 0:342c14fb10c0 230 *
p07gbar 0:342c14fb10c0 231 */
p07gbar 0:342c14fb10c0 232 void cls(void);
p07gbar 0:342c14fb10c0 233
p07gbar 0:342c14fb10c0 234 /** Send a character directly to the 3pi serial interface
p07gbar 0:342c14fb10c0 235 * @param c The character to send to the 3pi
p07gbar 0:342c14fb10c0 236 */
p07gbar 0:342c14fb10c0 237 int putc(int c);
p07gbar 0:342c14fb10c0 238
p07gbar 0:342c14fb10c0 239 /** Receive a character directly to the 3pi serial interface
p07gbar 0:342c14fb10c0 240 * @returns c The character received from the 3pi
p07gbar 0:342c14fb10c0 241 */
p07gbar 0:342c14fb10c0 242 int getc();
p07gbar 0:342c14fb10c0 243
p07gbar 0:342c14fb10c0 244 /** Send a string buffer to the 3pi serial interface
p07gbar 0:342c14fb10c0 245 * @param text A pointer to a char array
p07gbar 0:342c14fb10c0 246 * @param int The character to send to the 3pi
p07gbar 0:342c14fb10c0 247 */
p07gbar 0:342c14fb10c0 248 int print(char* text, int length);
p07gbar 0:342c14fb10c0 249
p07gbar 0:342c14fb10c0 250
p07gbar 0:342c14fb10c0 251
p07gbar 0:342c14fb10c0 252
p07gbar 0:342c14fb10c0 253 #ifdef MBED_RPC
p07gbar 0:342c14fb10c0 254 virtual const struct rpc_method *get_rpc_methods();
p07gbar 0:342c14fb10c0 255 #endif
p07gbar 0:342c14fb10c0 256
p07gbar 0:342c14fb10c0 257 private :
p07gbar 0:342c14fb10c0 258
p07gbar 0:342c14fb10c0 259 DigitalOut _nrst;
p07gbar 0:342c14fb10c0 260 Serial _ser;
p07gbar 0:342c14fb10c0 261
p07gbar 0:342c14fb10c0 262 void motor (int motor, float speed);
p07gbar 0:342c14fb10c0 263 virtual int _putc(int c);
p07gbar 0:342c14fb10c0 264 virtual int _getc();
p07gbar 0:342c14fb10c0 265
p07gbar 0:342c14fb10c0 266 int raw_white_levels[5];
p07gbar 0:342c14fb10c0 267
p07gbar 0:342c14fb10c0 268 };
p07gbar 0:342c14fb10c0 269
p07gbar 0:342c14fb10c0 270 #endif